Roadway information detection system consists of sensors on the autonomous vehicles and devices for the road

ABSTRACT

The present invention relates to the guidance of autonomous vehicles and in particular, relates to guiding an autonomous vehicle along a roadway by means of active devices with a system which works during normal and inclement weather as well as under any luminous conditions. These active devices are embedded in the passive and/or active road details such as traffic signs traffic lights, warning lights etc. These active devices provide data relating to road conditions, speed, road layout etc. as well as other information such as availability of parking spaces. Accordingly, through networks of sensors and devices the autonomous vehicle can obtain road details in real-time in any weather, illumination, visibility etc.

FIELD OF THE INVENTION

The present invention relates to the guidance of autonomous vehicles andin particular, relates to guiding an autonomous vehicle along a roadwayby means of active devices [d1] during normal and inclement weather thatwill work under any luminous conditions.

BACKGROUND

The Proposed sensor devices are strategically placed in or on thevehicle that will detect active devices [d1]. The Devices [d1] could beself-powered by solar and/or batteries with active electronics toprocess approaching vehicles or/and pedestrians for where powers are notreadily available. This self-contained or/and networked device[d1] willeither receive a discovery signal from the approaching vehicle orself-detect the vehicle/pedestrian or even provided by the network. Onceeither vehicle or pedestrian is known then the device[d1] will eitherreply with the predetermined information to the vehicle or/and hasalready display the “status” (ie: stop sign) or/and it displays theinformation.

Currently, the autonomous vehicles are helpless and can't or don't knowthe signs or road details without aid of camera system or detailedpre-mapped system of navigation. In use today, the navigation system iseither GPS based for obtaining details of the roads or/and uses LiDAR,or/and optical (Camera) based for mapping of the road network sign(s) inconjunction with pre-mapped extremely detailed road information. Thispre-mapping of the road is inefficient and, in most cases, impracticalif there are continual changes to the roadways (especially with the rateof change ranging from daily to hourly). These constant changes cancreate havoc to autonomous vehicles on the road if they do not have thelatest updates or if there are changes of the road networks. This couldpotentially result in a big catastrophe. Even if feasible, the amount ofchanges will require a multitude of road networks to be re-mapped. Thiswill not give the autonomous vehicles the information it needs tonavigate the roadway in a timely manner.

Furthermore, current technologies such as camera (optical), LiDAR, andother roadway interpretation systems fail under severe weatherconditions and under certain luminous conditions. As such, the presentinvention claims will help evolve the self-driving, autonomous vehiclesto navigate the road in a more effective manner under normal or severeweather condition and any luminous conditions.

Based on the preliminary research of the current technologies that aredeployed or proposed to solve the navigation for the autonomous vehicleson our roads today, all fail to navigate under inclement weatherconditions and are costly to implement. However, the present inventionbelow represents a more economical and efficient way to implement aself-assisted navigation system. For example, one of the claims is tomodify the existing passive signage(s) to an active device so thatsensors on the autonomous vehicle can accurately pick up the informationahead before it traverse the road. These details of the road could be asimple stop sign(s) or parking spaces available ahead on the road andcan be even adapted to provide information from pass stop to approachingautonomous bus—especially under (inclement weather and any luminous)conditions.

SUMMARY OF INVENTION

This disclosure relates to an autonomous vehicle and a system forcontrolling the vehicle, more specifically, the present disclosure isdirected towards autonomous vehicles with a plurality of sensor devicesto read road information then to navigate along the roadway.

It is the objective of the present disclosure to provide an improvedautonomous vehicle and a system of sensor devices for detecting the roadinformation from passive signage(s)/traffic cone(s) which can beread/received when in severe weather conditions and/or luminousconditions.

According to an aspect of the disclosure it is to provide an autonomousvehicle, comprising:

-   -   A system of sensor devices strategically placed on an autonomous        vehicle to read/receive road information whereby this        information is then processed by a hub, then passed onto either        an autonomous control system and/or 3D map navigation database        system to decide on how to navigate the road safely in a        real-time manner, the system comprises of:        -   The hub includes processing and storage capability;        -   Sensor devices on the vehicle consisting of components that            will transmit a discovery signal, and received information            from active devices on the roadway;        -   Wherein the hub, once the roadway information is processed            it is then communicated back to the autonomous control            system and/or 3D map navigation database system where a            roadway path is formulated for navigation; and        -   Wherein road information is captured and mapped in real-time            for use and updated to the network.

In another aspect of the disclosure it is to provide an autonomousvehicle comprising:

-   -   A non-transitory computer readable storage medium storing        instructions for controlling a system of sensor devices        strategically placed on an autonomous vehicle to read/receive        road information whereby this information is then processed by a        hub, then passed onto either an autonomous control system and/or        3D map navigation database system to decide on how to navigate        the road safely in a real-time manner, the system comprises of:        -   The hub includes processing and storage capability;        -   Sensor devices consisting of components that will transmit a            discovery signal, where the discovery signal will be            transmitted from the vehicle to the active devices [d1] then            the active devices either display or transmit it's            information back to the vehicle or display it's information;        -   Wherein the hub, once the roadway information is processed            it is then communicated back to the autonomous control            system and/or 3D map navigation database system where a            roadway path is formulated for navigation; and        -   Wherein road information is captured and mapped in real-time            for use and updated to the network.

In another aspect of the disclosure it is to provide an autonomousvehicle comprising:

-   -   A method for sensor devices strategically placed on an        autonomous vehicle to read road information whereby this        information is then processed by a hub and then passed onto        either an autonomous control system and/or 3D map navigation        database system to decide on how to navigate the road safely in        a real-time manner, the method comprises of: Providing the hub        with processing and storage capability;        -   Including sensor devices consisting of components that will            transmit a discovery signal, where the discovery signal will            be transmitted from the vehicle where devices on the roadway            can be discovered through reply to the discovery signal            or/and acquired by means of reading the display of the            devices;        -   Processing roadway information in the hub which is then            communicated back to the autonomous control system and/or 3D            map navigation database system, where a roadway path is            formulated for navigation; and        -   Capturing and mapping road information in real-time for use            and updated to the network.    -   Additional objects, features and advantages of the present        invention will become more readily apparent from the following        embodiments when taken in conjunction with the drawings wherein        the reference numerals refer to the corresponding parts in the        several views.

DESCRIPTION OF DRAWINGS

The description herein makes reference to the accompanying drawingsbelow wherein like reference numerals refer to like parts throughout theseveral views, and wherein:

FIG. 1—A scenario for autonomous vehicle on a road way—is a diagramrepresenting the various devices [d1] that an autonomous vehicle mayencounter in a scenario. Each of the red box representing devices[d1]such as the one directional sign, or the no entry sign, traffic signallights, person walking on the street, to the person riding a bicycle onthe roadways and other cars can be view as devices. Where the autonomousvehicle is represented by the red dot on roof of the vehicle aresensor(s). The sensor(s) may be strategically place on the vehicle andmay not be necessary on the roof top.

FIG. 2—Showing discovery signal are sent out by the autonomous vehicle,illustrates how the sensors will pick up the signal from the devicesaround the autonomous vehicle with discovery signal being sent out.Either by active reply or reflected signal from the devices.

FIG. 3—Various road signs/cone and etc, All the passive device(s) signs,cones and other devices are deployed today and in the future can beconverted and/or co-exist with the into the embodiment of the invention.These are some of the sample of the roads signs/cones/bus stop that canbe converted from passive to active devices that will allow theautonomous vehicle to be aware of while it is travelling the road waynetwork to a destination.

FIG. 4—Sample of stop signs being converted from passive to activedevices it illustrates a stop sign that can be converted from passivedevice to active devices with powered active electronics powered bysolar arrays and/or batteries. There could be a combination powersources that power this device. In this figure, we have 1. Solararray—collects power from sun light; either is fed directly to theactive electronic or via battery. 2. Various sizes or shape of thecurrent passive or/and active information display. 3. Various degrees ofmovement the solar array can be set to best collect sun energy. 4. Pivotpoint holding the solar array and/or various sensors and/or antenna. Canbe place anywhere that is best to collect maximum power or bestreception or transmission. 5. This represents the active electronichousing. 6. A post that is placed on the ground to hold the devices.This is only a representation of device as a sign(s). The device canalso be a parking space indicator/information system for the autonomousvehicle where the parking spaces are free or occupied within the roadway. Where there are sensor that will detect if there is a vehicleoccupying the space or not. Or traffic lights, pedestrian, trafficlight(s). The holy grail of this invention is a road side information(device) active or passive being alerted by the autonomous vehicle(sensor) in real time and in any weather or luminous conditions.

Devices (could have all the below components or part of it and otherfuture components that are not identified below. It depends on theapplication):

Electronics

-   -   Active network connection        -   Wired        -   wireless    -   Power source        -   Batteries        -   Solar panel        -   On site electrical power from utilities grid        -   Temporary power from autonomous vehicles    -   Camera or RF technology    -   Receiver(s)    -   Transmitter(s)    -   Antenna(s)    -   Sensors for various application (ie. Inferred, audio and etc.)    -   Push button    -   GPS capabilities    -   Sound Generating device(s)    -   All Weather and All Tempering proofing    -   May have active electronic/static display to pedestrians or        visual aid for autonomous vehicles

DETAILED DESCRIPTION

The embedded devices [d1] are either powered up by itself by itselfsolar or small long lasting batteries or a combination of all of aboveand/or can be powered by the car by sending energy sources such asmicrowaves and etc. The sign information is transmitted back to theapproaching vehicles by a common frequency that all autonomous vehiclesunderstand and can interpret and process. Both the sign and theautonomous vehicle sensors and devices can potentially work on adedicated short-range communication (DSRC) but not limited to DSRC. DSRCworks in 5.9 GHz band with bandwidth of 75 MHz and approximate range of1000 m. Vehicular sensors[s2] and road network devices[D1]

FIG. 1 demonstrates a scenario where the RF transmits energy from reddot on the vehicle rooftop to the surrounding area to discover thecreate a map of the road way and objects around itself. Where the activedevices are actively listening to this signal they will either reply ordisplay the information for the vehicle. The sensor can either be acomplete unit system with an integrated sectorized antenna (a ruggedizeddesign suitable for withstanding severe weather condition whilestrategically placed on the inside or outside of the vehicle), or it cansimply be the sensor installed inside the vehicle (1) while aruggedized, sectorized antenna (connected to the sensor via a RF cable)is strategically mounted on the vehicle exterior.

Based on the information read or received, a detail of the environmentcould be gathered. In order to have sufficient data points to formulatedetail of the devices or objects of the roadway, the transmitted signalneeds multitudes of samples per second.

Note in order to cover the front, back, and sides of the vehicle,multiple sensors (and their associated antennas) maybe required to beinstalled. The number of sensors required is dictated by the achievabledata point resolution to accurately generate a 3-D map of the road. Assuch, the sensor antenna coverage beamwidth and gain (to resolve andcoherently receive the reflected signal) performance will contribute tothe number of sensors required.

FIG. 2 illustrates how the sensors has to continually send out discoverysignals as it traverses the road, so that it has total awareness of thedevice (objects) of the road it is travelling on in order to make asound and safe decision in real time. The constant changes in the roadinformation will need to be fed to the vehicle or actively seek for it.

FIG. 3 is the embodiment of the invention. This is a representation of astatic sign being converted or co-existing with the active electronicthat provide the information to travelling autonomous vehicle(s). Thisalso can be adapted to inform the autonomous autobus that there arepassenger waiting at the bus stop.

Once the information is processed and the information is parsed andidentified then it is sent to the Autonomous Control System (ACS) and/orthe 3D map navigation database system. Below briefly explains thefunction of each entity and how each interacts with one another.

The sensor sends out the discovery signal from the autonomous vehicle todiscover the all the devices on the road as it travel.

All the received data from the sensors are processed by the hub. Themain goal of the system is to identify all the device(s) on the roadthat are within certain distance from itself. After the device(s) areidentified and processed, this information is passed to the AutonomousControl System and/or the 3D map navigation system. This has to happenin real time and in advance of the path the vehicle is traveling on.

The 3D map navigation database system, where the road networks aredetailed and created into three dimensional images so that theautonomous vehicle can use to traverse to its destination or simply finda suitable parking space. In the scenario where the autonomous vehiclerelies on using the 3D detailed mapping database system to obtain thedevices on the road as it is traveling, then the proposed system willcompare the device(s) information on the 3D map to see if it is up todate with the newly acquired information. In the event there arediscrepancies and devices are permanently in nature, the system thusflags the changes for the 3D mapping system to make the updated changes.In the event the device(s) are temporary like traffic cones, then thesystem utilized this real-time information to navigate.

In a scenario where the autonomous vehicle is acquiring the roadinformation in real time, the identified device(s) information is passeddirectly to the Autonomous Control System (ACS) for use in navigatingthe roadway. Once the autonomous vehicle has successfully navigated theroadway, then this information is passed to the 3D mapping system tocompare and update the information for future use via locally stored or,via other 3D mapping systems on the network.

FIG. 4 sample of stop signs being converted from passive to activedevices it illustrates a stop sign that can be converted from passivedevice to active devices with powered active electronics powered bysolar array and/or battery. There could be a combination of solar andconstant reliable power, powering this active device. In this figure, wehave 1. Solar array—collect power from sun light, either is fed directlyto the active electronic or via battery. 2. Various sizes or shapes ofthe current passive or/and active information display. 3. Variousdegrees of movement that the solar array can be set to best collect sunenergy. 4. Pivot point holding the solar array and/or various sensorsand/or antenna. 5. This represents the active electronic housing. 6. Apost that is placed on the ground to hold the devices. This is only arepresentation of device as a sign(s). The device can also be a parkingspace indicator/information system for the autonomous vehicle where theparking spaces are free or occupied within the road way, where there aresensor that will detect if there is a vehicle occupying the space ornot. Or traffic lights, pedestrian, traffic light(s). The holy grail ofthis invention is a road side information (device) that is active orpassive alerting the autonomous vehicle (sensor) in real time and in anyweather or luminous conditions.

As all the device(s) are learnt from all sides of the vehicle, thisinformation can be stored in a 3D map navigation database, or theautonomous control system depending on which database is being used.Further, with the mapping the vehicle can update the mapping process forother vehicles in real time if there have been changes to the road dueto construction or other such adjustments.

Based on the above, in the referred embodiment depicted, the system willwork even under severe adverse weather conditions. The active sensordevices in the autonomous vehicle continue to read the device(s) on theroadway information at certain frequency intervals in real-time. Thesensor in the autonomous vehicle can function independently as astand-alone system or in conjunction with other existing navigationsystem (such as the GPS or Lidar systems for example) to give it finerdetails of the roadway that it is travelling on. The proposed system issuperior to other existing systems because, unlike other existingsystems, this system will continue to work autonomously even undersevere weather conditions such as heavy snowstorm, ice, fog or any otherinclement weather.

It is important for the autonomous vehicle to have the latest roadnetwork details to navigate. These sensors can be strategically placedin, or mounted on, the vehicle to enable them to read the most accurateroad information for either a straight or bent road.

Note that the proposed system does not require modification to theexisting road networks, with the exception of changing or installingco-exiting active electronics. Thus, to summarize, the following is asequence of steps that must happen for the autonomous vehicle tonavigate the roadway in the most effective manner:

-   -   1. The sensor would send a discovery signal ahead using sonar        like technology for example.    -   2. The road side device(s) either send a reply or display        information back to the source.    -   3. The sensor in the vehicle receives the discovered information        signal and passes it on to the processing hub.    -   4. The hub interprets/processes the information as it receives        it in real time.    -   5. The processed information is translated to a format that is        consumable by the autonomous control system or 3D map navigation        database system.    -   6. The autonomous control system or 3D map navigation database        system processes the information and makes decision based on the        received discovered signals from the proposed device(s).

In order to have the most effective and accurate road information, thesensors would read the information from ahead and from both sides of thevehicle to determine the road way structures and objects. Each side ofthe road may provide different information as the vehicle travels ahead.Once the information is obtained by the autonomous control system and/or3D map navigation database system, it then processes it and formulates adecision on how to best navigate. The proposed system will work underany weather condition.

Although described with reference to referred embodiments of theinvention, it should be readily understood that various changes and/ormodifications can be made to the invention without departing from thespirit thereof. In general, the invention is only intended to be limitedby the scope of the following claims.

Thus, the following outlines a set of claims that will help or evolvethe self-driving, autonomous vehicles to navigate the road in a moreeffective manner under normal or sever weather and luminous condition:

The invention claimed is:
 1. A system comprising: an autonomous vehiclecomprising a first processor, a first memory storing first executableinstructions for execution by the first processor, a control system, anavigation system and a first transceiver operating according to apredetermined wireless protocol; a plurality of devices deployed withrespect to a section of roadway; wherein a first subset of the pluralityof devices are active devices, each active device of the plurality ofdevices associated with a predetermined element of the roadwaycomprising a second processor, a second memory storing second executableinstructions for execution by the second processor and secondtransceiver operating according to the predetermined wireless protocol;a second subset of the plurality of devices are passive devices, eachpassive device of the plurality of devices associated with apredetermined element of the roadway; the first executable instructionswhen executed by the first processor configure the processor to executea first process comprising: transmit a discovery signal from the firsttransceiver; receive data via the first transceiver from a device of theplurality of devices, the data generated by a device of the plurality ofdevices in response to the discovery signal and transmitted as aresponse signal; process the received data to determine whether firstinformation with respect to the roadway has been received and secondinformation with respect to the roadway has been received; determiningwhether first information was received within the processed receiveddata and upon a positive determination passing the first information tothe control system for controlling an aspect of the autonomous vehicle;and determining whether second information was received within theprocessed received data and upon a positive determination passing thesecond information to the navigation system; the second executableinstructions when executed by the second processor configure an activedevice to execute a second process comprising: receive the discoverysignal from the first receiver; compile data for transmission independence upon the element of the roadway with which the active deviceis associated; and transmit the compiled data with the secondtransceiver as the response signal.
 2. The system according to claim 1,wherein the predetermined element of the roadway with which an activedevice of the plurality of devices is associated is selected from thegroup comprising a traffic sign, a parking sign, a traffic cone, a busstop.
 3. The system according to claim 1, wherein the predeterminedelement of the roadway with which an active device of the plurality ofdevices is associated is an element of the physical structure of theroadway itself.
 4. The system according to claim 1, wherein thepredetermined element of the roadway with which an active device of theplurality of devices is associated is another vehicle and a pedestrian.5. The system according to claim 1, wherein the predetermined element ofthe roadway with which a passive device of the plurality of devices isassociated is selected from the group comprising a traffic sign, aparking sign, a traffic cone, a bus stop.
 6. The system according toclaim 1, wherein the predetermined element of the roadway with which apassive device of the plurality of devices is associated is an elementof the physical structure of the roadway itself or a lane marker of theroadway.
 7. The system according to claim 1, wherein the predeterminedelement of the roadway with which a passive device of the plurality ofdevices is associated is a lane marker for the roadway.
 8. The systemaccording to claim 1, wherein the predetermined element of the roadwaywith which an active device of the plurality of devices is associated isanother vehicle and a pedestrian.
 9. The system according to claim 1,wherein the discovery signal and response signal provide for two waycommunications independent of weather conditions, ambient environmentand ambient illumination.
 10. The system according to claim 1, whereinthe first process further comprises: determining whether the autonomousvehicle has successfully navigated the section of roadway; and upon apositive determination passing the first information received within theprocessed received data to the navigation system; and the navigationsystem performs a process of: determining whether the first informationwas received from a device associated with a predetermined element ofthe roadway which is fixed infrastructure or a temporary infrastructure;upon a determination that the first information was received from adevice associated with a predetermined element of the roadway which isfixed infrastructure performing a process of: utilizing the firstinformation to navigate the autonomous vehicle upon the section ofroadway; comparing the first information with third information storedwith a third memory accessible to the navigation system relating to thesection of roadway; determining in dependence upon the comparisonwhether to update the third information within the third memory; andupon a positive determination updating the third information within thethird memory; and upon a determination that the first information wasreceived from a device associated with a predetermined element of theroadway which is temporary infrastructure utilizing the firstinformation to navigate the autonomous vehicle upon the section ofroadway.
 11. The system according to claim 1, wherein the first processfurther comprises repeating the process of transmitting, receiving,processing, and determining at a predetermined frequency in real-time.12. The system according to claim 1, wherein the autonomous vehicle cannavigate the section of roadway independent of any other navigationsystem.
 13. The system according to claim 1, wherein the firsttransceiver is associated with a predetermined side of the autonomousvehicle; the compiled data generated by the second processor isestablished in dependence upon the direction of travel of the autonomousvehicle.
 14. The system according to claim 1, wherein the compiled datagenerated by the second processor is established in dependence upon thedirection of travel of the autonomous vehicle.
 15. A system comprising:an autonomous vehicle comprising a first processor, a first memorystoring first executable instructions for execution by the firstprocessor, a control system, a navigation system and a first transceiveroperating according to a predetermined wireless protocol; a plurality ofdevices deployed with respect to a section of roadway; the firstexecutable instructions when executed by the first processor configurethe processor to execute a first process comprising: transmit adiscovery signal from the first transceiver; receive data via the firsttransceiver from a device of the plurality of devices, the datagenerated by a device of the plurality of devices in response to thediscovery signal and transmitted as a response signal; process thereceived data to determine whether first information with respect to theroadway has been received and second information with respect to theroadway has been received; determining whether first information wasreceived within the processed received data and upon a positivedetermination passing the first information to the control system forcontrolling an aspect of the autonomous vehicle; and determining whethersecond information was received within the processed received data andupon a positive determination passing the second information to thenavigation system.
 16. The system according to claim 15, wherein a firstsubset of the plurality of devices are active devices, each activedevice of the plurality of devices associated with a predeterminedelement of the roadway comprising a second processor, a second memorystoring second executable instructions for execution by the secondprocessor and second transceiver operating according to thepredetermined wireless protocol; a second subset of the plurality ofdevices are passive devices, each passive device of the plurality ofdevices associated with a predetermined element of the roadway; and thesecond executable instructions when executed by the second processorconfigure an active device to execute a second process comprising:receive the discovery signal from the first receiver; compile data fortransmission in dependence upon the element of the roadway with whichthe active device is associated; and transmit the compiled data with thesecond transceiver as the response signal.
 17. The system according toclaim 16, wherein when the predetermined element of the roadway withwhich an active device of the plurality of devices is associated isselected from the group comprising a traffic sign, a parking sign, atraffic cone, a bus stop, an element of the physical structure of theroadway itself, another vehicle and a pedestrian; and when thepredetermined element of the roadway with which a passive device of theplurality of devices is associated is selected from the group comprisinga traffic cone, an element of the physical structure of the roadwayitself and a lane marker of the roadway.
 18. The system according toclaim 16, wherein the compiled data generated by the second processor isestablished in dependence upon the direction of travel of the autonomousvehicle.
 19. The system according to claim 15, wherein the first processfurther comprises: determining whether the autonomous vehicle hassuccessfully navigated the section of roadway; and upon a positivedetermination passing the first information received within theprocessed received data to the navigation system; and the navigationsystem performs a process of: determining whether the first informationwas received from a device associated with a predetermined element ofthe roadway which is fixed infrastructure or a temporary infrastructure;upon a determination that the first information was received from adevice associated with a predetermined element of the roadway which isfixed infrastructure performing a process of: utilizing the firstinformation to navigate the autonomous vehicle upon the section ofroadway; comparing the first information with third information storedwith a third memory accessible to the navigation system relating to thesection of roadway; determining in dependence upon the comparisonwhether to update the third information within the third memory; andupon a positive determination updating the third information within thethird memory; and upon a determination that the first information wasreceived from a device associated with a predetermined element of theroadway which is temporary infrastructure utilizing the firstinformation to navigate the autonomous vehicle upon the section ofroadway.
 20. The system according to claim 15 a first subset of theplurality of devices are active devices, each active device of theplurality of devices associated with a predetermined element of theroadway and comprising electronics to transmit data to the autonomoussignal in dependence upon receipt of the discovery signal; a secondsubset of the plurality of devices are passive devices, each passivedevice of the plurality of devices associated with a predeterminedelement of the roadway; and the received data received from an activedevice is generated in dependence upon a direction of travel of theautonomous vehicle relative to the predetermined element of the roadwaythe active device is associated with.